/*
* Copyright (c) 2006-2007 Erin Catto http:
*
* This software is provided 'as-is', without any express or implied
* warranty.  In no event will the authors be held liable for any damages
* arising from the use of this software.
* Permission is granted to anyone to use this software for any purpose,
* including commercial applications, and to alter it and redistribute it
* freely, subject to the following restrictions:
* 1. The origin of this software must not be misrepresented; you must not
* claim that you wrote the original software. If you use this software
* in a product, an acknowledgment in the product documentation would be
* appreciated but is not required.
* 2. Altered source versions must be plainly marked, and must not be
* misrepresented the original software.
* 3. This notice may not be removed or altered from any source distribution.
*/
// var b2Mat22 = Class.create();
// b2Mat22.prototype =
import b2Vec2 from './b2Vec2';
export default class b2Mat22 {
    constructor(angle = 0, c1 = null, c2 = null) {
        this.col1 = null;
        this.col2 = null;
        if (angle == null)
            angle = 0;
        // initialize instance variables for references
        this.col1 = new b2Vec2();
        this.col2 = new b2Vec2();
        if (c1 != null && c2 != null) {
            this.col1.SetV(c1);
            this.col2.SetV(c2);
        }
        else {
            var c = Math.cos(angle);
            var s = Math.sin(angle);
            this.col1.x = c;
            this.col2.x = -s;
            this.col1.y = s;
            this.col2.y = c;
        }
    }
    Set(angle) {
        var c = Math.cos(angle);
        var s = Math.sin(angle);
        this.col1.x = c;
        this.col2.x = -s;
        this.col1.y = s;
        this.col2.y = c;
    }
    SetVV(c1, c2) {
        this.col1.SetV(c1);
        this.col2.SetV(c2);
    }
    Copy() {
        return new b2Mat22(0, this.col1, this.col2);
    }
    SetM(m) {
        this.col1.SetV(m.col1);
        this.col2.SetV(m.col2);
    }
    AddM(m) {
        this.col1.x += m.col1.x;
        this.col1.y += m.col1.y;
        this.col2.x += m.col2.x;
        this.col2.y += m.col2.y;
    }
    SetIdentity() {
        this.col1.x = 1.0;
        this.col2.x = 0.0;
        this.col1.y = 0.0;
        this.col2.y = 1.0;
    }
    SetZero() {
        this.col1.x = 0.0;
        this.col2.x = 0.0;
        this.col1.y = 0.0;
        this.col2.y = 0.0;
    }
    Invert(out) {
        var a = this.col1.x;
        var b = this.col2.x;
        var c = this.col1.y;
        var d = this.col2.y;
        //var B = new b2Mat22();
        var det = a * d - b * c;
        //b2Settings.b2Assert(det != 0.0);
        det = 1.0 / det;
        out.col1.x = det * d;
        out.col2.x = -det * b;
        out.col1.y = -det * c;
        out.col2.y = det * a;
        return out;
    }
    // this.Solve A * x = b
    Solve(out, bX, bY) {
        //float32 a11 = this.col1.x, a12 = this.col2.x, a21 = this.col1.y, a22 = this.col2.y;
        var a11 = this.col1.x;
        var a12 = this.col2.x;
        var a21 = this.col1.y;
        var a22 = this.col2.y;
        //float32 det = a11 * a22 - a12 * a21;
        var det = a11 * a22 - a12 * a21;
        //b2Settings.b2Assert(det != 0.0);
        det = 1.0 / det;
        out.x = det * (a22 * bX - a12 * bY);
        out.y = det * (a11 * bY - a21 * bX);
        return out;
    }
    Abs() {
        this.col1.Abs();
        this.col2.Abs();
    }
}
